version: 66.08
glider: 502
mission: 3
dive: 461
start: 1 2 111 1 59 21
data:
$ID,502
$MISSION,3
$DIVE,461
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30722.262
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,020111,015326,-7628.341,17956.191,10,1.4,10,118.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-71.2
$GPS2,020111,015855,-7628.371,17955.943,11,1.4,11,118.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,174.1,257668,-17.5,-10.000
$D_GRID,386
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,103,0.00,0.00,-85.10,0.000,2,0.000,0.000,425,2660,3300,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.2,-1.9,12,130,8.73,2.35,-7.55,0.000,4,0.194,0.064,2806,1243,3561,0,0,0,0,0,0
$GC,333,-0.76,-146.0,38.0,-14.2,51,340,0.00,2.30,0.00,0.000,6,0.000,0.058,2798,2646,3564,0,0,0,0,0,0
$GC,475,-0.76,-146.0,60.3,-15.7,76,484,0.00,1.83,0.00,0.000,4,0.000,0.061,2789,3760,3564,0,0,0,0,0,0
$GC,533,-0.76,-146.0,69.2,-16.6,85,539,0.00,1.75,0.00,0.000,6,0.000,0.041,2789,2660,3564,0,0,0,0,0,0
$GC,674,-0.76,-146.0,91.8,-15.3,110,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2659,3564,0,0,0,0,0,0
$GC,814,-0.76,-146.0,113.5,-15.6,127,817,0.00,1.80,0.00,0.000,4,0.000,0.062,2781,3767,3564,0,0,0,0,0,0
$GC,884,-0.76,-146.0,126.1,-17.7,133,893,0.10,1.75,0.00,0.000,6,0.135,0.042,2814,2664,3564,0,0,0,0,0,0
$GC,1021,-0.76,-146.0,144.7,-13.5,146,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2663,3564,0,0,0,0,0,0
$GC,1157,-0.76,-146.0,163.9,-14.0,159,1160,0.00,1.77,0.00,0.000,4,0.000,0.060,2806,3764,3564,0,0,0,0,0,0
$GC,1216,-0.76,-146.0,173.4,-15.5,164,1224,0.00,1.75,0.00,0.000,6,0.000,0.041,2807,2666,3564,0,0,0,0,0,0
$GC,1352,-0.76,-146.0,192.5,-14.5,177,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2664,3564,0,0,0,0,0,0
$GC,1479,-0.76,-146.0,211.1,-14.5,189,1482,0.00,1.80,0.00,0.000,4,0.000,0.062,2798,3773,3564,0,0,0,0,0,0
$STATE,1701,end dive,NO_VERTICAL_VELOCITY
$STATE,1701,begin apogee
$GC,1708,-0.27,0.0,223.3,0.0,209,1848,0.50,0.00,127.93,0.924,4,0.093,0.000,2976,2486,2958,0,0,0,0,0,0
$STATE,1849,end apogee,CONTROL_FINISHED_OK
$STATE,1849,begin climb
$GC,1851,0.76,146.0,223.3,0.0,220,2005,1.02,2.45,142.20,0.846,4,0.074,0.050,3309,1096,2364,0,0,0,0,0,0
$GC,2121,0.76,146.0,198.5,11.8,242,2130,0.00,2.55,0.00,0.000,6,0.000,0.052,3309,2496,2355,0,0,0,0,0,0
$GC,2259,0.76,146.0,183.1,11.3,255,2262,0.00,2.12,0.00,0.000,4,0.000,0.058,3309,3765,2353,0,0,0,0,0,0
$GC,2357,0.76,146.0,169.4,14.2,263,2365,0.00,2.03,0.00,0.000,6,0.000,0.041,3319,2517,2352,0,0,0,0,0,0
$GC,2492,0.76,146.0,153.3,11.7,276,2496,0.00,2.05,0.00,0.000,4,0.000,0.060,3318,3777,2350,0,0,0,0,0,0
$GC,2550,0.76,146.0,145.6,14.5,281,2554,0.00,1.95,0.00,0.000,6,0.000,0.041,3328,2533,2350,0,0,0,0,0,0
$GC,2693,0.76,146.0,128.3,11.8,294,2696,0.00,2.00,0.00,0.000,4,0.000,0.057,3328,3771,2349,0,0,0,0,0,0
$GC,2741,0.76,146.0,121.0,14.1,298,2751,0.00,1.98,0.00,0.000,6,0.000,0.041,3337,2536,2349,0,0,0,0,0,0
$GC,2877,0.76,146.0,104.0,12.6,311,2881,0.00,1.98,0.00,0.000,4,0.000,0.057,3338,3768,2348,0,0,0,0,0,0
$GC,2940,0.76,146.0,95.0,15.0,319,2948,0.12,1.90,0.00,0.000,6,0.162,0.041,3313,2557,2348,0,0,0,0,0,0
$GC,3083,0.76,146.0,79.0,11.2,344,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2555,2348,0,0,0,0,0,0
$GC,3227,0.76,146.0,63.9,10.1,369,3234,0.00,1.98,0.00,0.000,4,0.000,0.058,3312,3770,2347,0,0,0,0,0,0
$GC,3288,0.76,146.0,56.4,12.5,379,3295,0.00,1.92,0.00,0.000,6,0.000,0.041,3320,2562,2347,0,0,0,0,0,0
$GC,3429,0.76,146.0,40.5,11.0,404,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2560,2347,0,0,0,0,0,0
$GC,3572,0.76,146.0,25.2,11.3,429,3579,0.00,1.98,0.00,0.000,4,0.000,0.060,3321,3774,2347,0,0,0,0,0,0
$GC,3657,0.76,146.0,13.9,14.1,444,3665,0.00,1.90,0.00,0.000,6,0.000,0.042,3330,2578,2346,0,0,0,0,0,0
$FREEZE,8.95,-0.678,-1.897,2,1,0
$FREEZE,8.44,-0.635,-1.896,2,1,0
$FREEZE,7.63,-0.606,-1.895,2,1,0
$FREEZE,6.96,-0.574,-1.894,2,1,0
$FREEZE,6.15,-0.576,-1.894,2,1,0
$FREEZE,5.54,-0.575,-1.894,2,1,0
$FREEZE,4.84,-0.575,-1.893,2,1,0
$FREEZE,4.35,-0.575,-1.893,2,1,0
$FREEZE,3.65,-0.575,-1.893,2,1,0
$FREEZE,3.20,-0.575,-1.892,2,1,0
$FREEZE,2.44,-0.573,-1.892,2,1,0
$STATE,3755,end climb,SURFACE_DEPTH_REACHED
$STATE,3755,begin surface coast
$FREEZE,1.55,-0.571,-1.891,2,1,0
$FREEZE,1.11,-0.592,-1.892,2,1,0
$FREEZE,1.14,-0.676,-1.880,2,1,0
$FREEZE,1.11,-0.625,-0.204,2,1,0
$FINISH,1.1,1.002810
$STATE,3780,end surface coast,FINISH_DEPTH_REACHED
$STATE,3780,begin surface
$SM_CCo,3796,75.80,0.100,0,0,1736,300.24
$SM_GC,2.10,0.00,0.00,75.80,0.000,0.000,0.100,420,2679,1736,-8.26,0.82,300.24
$IRIDIUM_FIX,-7545.40,17950.78,020111,000055
$TT8_MAMPS,0.029211
$HUMID,52.87
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,18.5
$24V_AH,20.4,70.510
$10V_AH,9.7,47.938
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.925,48.075,270.125,75.800,0.000,31.454,35.687,157.468,0.750,0.000,11.936,1180.974,946.088,419.890,1511.500,157.068,0.000,958.521,0.000,803.243,0.000,2.622,0.000
$DEVICE_MAMPS,194.310,87.975,924.120,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.988,706.315,922.998,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267044
$DATA_FILE_SIZE,30392,464
$CAP_FILE_SIZE,66117,0
$CFSIZE,260165632,226848768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.331,230.6,1
$GPS,020111,030507,-7628.652,17951.936,34,1.2,34,118.2